User's Manual

ARRAYS CONTROL FEEDBACK MATH PROGRAM STEPPER
DA deallocate DV dual loop AF analog feedback @ABS[n] | | BK breakpoint KS smoothing n
_DA arrays le FA accel feedfw AL arm latch @ACOS[n] arccos DL downlo
VECTOR
ft d ad
DM defin FV speed feedf _AL latch occurred? arcsin _DL labels l AV wait for arc length e wd @ASIN[n] eft
_DM space le IL integrator li configure arctan ED edit _AVS arc length ft mit CE @ATAN[n]
LA li derivative g OC output compare n] bit not ELSE if else CA 2nd vector st KD ain @COM[
QD downloa KI integral gain _OC first pulse? ] cosine EN end CR circle d @COS[n
QU print/uploa KP proportional gain RL read latch @FRAC[n] fraction ENDIF if en CS clear sequence d dif
RA reco MO motor _RL latch position @INT[n] integer HX halt thread _CS segment rd off
RC begi _MO motor o TD tell dual @RND[n] round IF conditio elliptical scale n ff? nal ES
_RC recording NB notch wid TP tell position @SIN[n] sine JP for/while loop LE linear end ? th
RD dat NF notch frequen TV tell veloc @SQR[n] x^0. JS jump subrou e _LE total arc length a cy ity 5 tin
_RD addres NZ notch ze
GEAR
@TAN[n] tangent LL list labels LI linear point s ro
[ ] index F offs GA ax + add LS list LM linear axes O et es
COMMUNICAT
PL low pas GM gantry mode - subtract LV list variables _LM buffer space
E
s
CC aux seri SH servo he GR ratio * multiply NO (') comment TN tangent scale al re
CF unsolicite TE tell er
HOME
/ divide RE return e r _TN 1st position d ror rro
CI interrup TK peak torqu DE define dual ( ) parenthesis REM fast comment VA acceleration t e
CW unsolicited b TL torque limit DP define position & an RI return interrupt VD deceleration it d
DR data recor TM sample time FE find home o | SL single step VE vector end d nly or
EO ech TT tell torq FI find index on $ hexadecimal TB tell status b VM vector axes o ue ly yte
HS handle swit
ECAM
HM hom < less than TR debug trace _VM velocity ch e
IA IP addre master ax _HM home inp > greater than UL upload VP vector point ss EA is ut
_IA Ethernet in EB enable
INFO
= assign / equ _UL variables left _VP last point fo al
IH open hand count _BN serial number <= less or equal XQ execute VR VS multiplier le EC er
_IH handle in EG engage slav _BV axes >= greater or equal _XQ current li # VS speed fo e ne
IN user inpu modul ^R^V firmware rev <> not equ ZS zero stack VT s curve t EM us al
LZ leading zero master positions
I/O MOTION
_ZS stack level s EP
MG messag EQ disengage slave @AN[x] analog in C acceleratio #AUTO; EN e A n
P2CD port 2 cod ET table @IN[x] digital in begi #AUTOERR; EN e BG n
P2CH characte
EEPROM
@OUT[x] digital out tion? ; command delimr _BG in mo iter
P2NM numbe ^R^S master reset AI wait for input DC deceleratio # subrouti r n ne
P2ST string BN burn AO set analog output IP increment position
TIME
PF position forma BP burn program CB clear digital out IT s curv AT wait refere t e nce
QR query record BV burn variables CN configure JG jo TIME clock g
QZ record info RS reset CO extended I/O PA position absolut WT wait e
SA send command
ERRORS
II input interr A last targe
SINE DRIVE
upt _P t
_SA response AB abo MB Modbus TCP PR position relativ BA ax rt e es
TH tell handles _AB abort input MW Modbus w _PR relative targe _BA 2nd DAC axis ait t
VF variable forma BL reverse soft limit OB output bit PT position trackin BB hall off t g set
WH which handle _ED program line OP output port RP desired positio BC calibration n
_WH numeric _ED1 thread SB set digital out SP speed _BC hall state
#COMINT; N1,1 ER maximum TE TI tell input b ST stop BD degre yte es
#TCPERR; RE FL forward soft limit TS tell switch ~a axis variabl BI hall inputs es e
CONTOUR
_LF forward limit TZ tell Ethernet I/O
MOTION WAIT
BM magnetic cy cle
CD data _LR reverse limit #ININT; RI1 AD distance (RP) BO DAC offset
CM axes OE off on e AM complete (RP) BS setup rror
_CM buffer ful SC stop code AP position (TP) BZ find zero l
DT delta tim TC tell code AR distance (RP) _BZ distance to zero e
WC wait for buffe #CMDERR; EN1 AS at speed (SP) r
IMSWI; RE1 MC complete (TP) #L
OSERR; RE1 MF forward (TP) #P
MR reverse (TP)
TW MC timeout
#MCTIME; EN1